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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::GraphRegistration&lt; GraphT &gt; 模板类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p><b><a class="el" href="classpcl_1_1_graph_registration.html" title="GraphRegistration class is the base class for graph-based registration methods">GraphRegistration</a></b> class is the base class for graph-based registration methods  
 <a href="classpcl_1_1_graph_registration.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="graph__registration_8h_source.html">graph_registration.h</a>&gt;</code></p>
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类 pcl::GraphRegistration&lt; GraphT &gt; 继承关系图:</div>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>GraphHandler</b></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>GraphHandlerPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>GraphHandlerConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::Vertex&#160;</td><td class="memItemRight" valign="bottom"><b>GraphHandlerVertex</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#a739dfa2a7612d122533fb6f951ec1545">GraphRegistration</a> ()</td></tr>
<tr class="memdesc:a739dfa2a7612d122533fb6f951ec1545"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#add25bbd370c800a0bbecedb20f7cd7ba">~GraphRegistration</a> ()</td></tr>
<tr class="memdesc:add25bbd370c800a0bbecedb20f7cd7ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
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template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:af31ea898bd6178b5e0be6abb35fef5c2"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#af31ea898bd6178b5e0be6abb35fef5c2">addPointCloud</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud, const Eigen::Matrix4f &amp;pose)</td></tr>
<tr class="memdesc:af31ea898bd6178b5e0be6abb35fef5c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud and the associated camera pose to the graph <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#a31ea5270111537b81b4c33eba2e67c02">setGraphHandler</a> (GraphHandlerPtr &amp;gh)</td></tr>
<tr class="memdesc:a31ea5270111537b81b4c33eba2e67c02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the graph handler <br /></td></tr>
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GraphHandlerPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#aefb9136644212badc25f4f8d395d369f">getGraphHandler</a> ()</td></tr>
<tr class="memdesc:aefb9136644212badc25f4f8d395d369f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the graph handler <br /></td></tr>
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GraphHandlerConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#afdb661dd97ce65acde21011e6dc810f4">getGraphHandler</a> () const</td></tr>
<tr class="memdesc:afdb661dd97ce65acde21011e6dc810f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the graph handler <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#aa5031e1f83ac059fa6d4101dcfd85515">compute</a> ()</td></tr>
<tr class="memdesc:aa5031e1f83ac059fa6d4101dcfd85515"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if new poses have been added, then call the registration method which is implemented by the subclasses <br /></td></tr>
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Protected 属性</h2></td></tr>
<tr class="memitem:a9c68ff0a5e9ac1ee85c494b8ab46f28c"><td class="memItemLeft" align="right" valign="top"><a id="a9c68ff0a5e9ac1ee85c494b8ab46f28c"></a>
GraphHandlerPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#a9c68ff0a5e9ac1ee85c494b8ab46f28c">graph_handler_</a></td></tr>
<tr class="memdesc:a9c68ff0a5e9ac1ee85c494b8ab46f28c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The graph handler <br /></td></tr>
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GraphHandlerVertex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#a78f60c14b3b177a40062abcc7c4b4ab6">last_aligned_vertex_</a></td></tr>
<tr class="memdesc:a78f60c14b3b177a40062abcc7c4b4ab6"><td class="mdescLeft">&#160;</td><td class="mdescRight">The last estimated pose <br /></td></tr>
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std::vector&lt; GraphHandlerVertex &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#a0aff80925bdbe14a7221f3ffc4d14a7c">last_vertices_</a></td></tr>
<tr class="memdesc:a0aff80925bdbe14a7221f3ffc4d14a7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The vertices added to the graph since the last call to compute <br /></td></tr>
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Private 成员函数</h2></td></tr>
<tr class="memitem:aabbb285231973653c2b4bf47ad891ee8"><td class="memItemLeft" align="right" valign="top"><a id="aabbb285231973653c2b4bf47ad891ee8"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_graph_registration.html#aabbb285231973653c2b4bf47ad891ee8">computeRegistration</a> ()=0</td></tr>
<tr class="memdesc:aabbb285231973653c2b4bf47ad891ee8"><td class="mdescLeft">&#160;</td><td class="mdescRight">The registration method <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename GraphT&gt;<br />
class pcl::GraphRegistration&lt; GraphT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1_graph_registration.html" title="GraphRegistration class is the base class for graph-based registration methods">GraphRegistration</a></b> class is the base class for graph-based registration methods </p>
<dl class="section author"><dt>作者</dt><dd>Nicola Fioraio </dd></dl>
</div><hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="graph__registration_8h_source.html">graph_registration.h</a></li>
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